Method and system for controlling an orbital sander

Patent metadata

Field	Value
Publication number	US-10150199-B2
Application number	US-201515124991-A
Country	US
Kind code	B2
Filing date	Mar 11, 2015
Priority date	Mar 11, 2014
Publication date	Dec 11, 2018
Grant date	Dec 11, 2018

Abstract

The invention relates to a method for controlling an automated orbital sander, in which method an electrically powered orbital sander is moved around automatically, at constant pressure, over the surface of an object, along at least one predefined sanding path so as to perform sanding, characterized in that the instantaneous power consumed by the sander along the sanding path is measured and in that the measurement thus taken is processed in order to deduce therefrom information regarding the level of abrasion along said path and/or to detect any sanding incident that has occurred along the latter.

First claim

The invention claimed is:

1. A method for controlling automated orbital sanding, wherein an electrically-powered orbital sander is moved in an automated way, at constant pressure, at the surface of an object, along at least one predefined sanding trajectory in order to achieve the sanding thereof,
wherein the instantaneous consumed power of the sander is measured at different points along the sanding trajectory and in that the thereby conducted measurement is treated so as (i) to infer therefrom a piece of information on the abrasiveness of the object at each of the different measured points along said trajectory, (ii) to detect a possible sanding incident along the latter, or both, and
wherein a colorimetric mapping of the instantaneous consumed power, the inferred abrasiveness, or both, at the different points along the sanding trajectory is displayed or edited, said mapping associating an instantaneous consumed power of the sander with a given position of the sanding trajectory.

2. The method according to claim 1 , wherein the curve of the time-dependent change in the instantaneous consumed power or curves function of the latter are compared with one or several curves, thresholds or reference patterns characteristic of the occurrence of different incidents, these different reference curves or thresholds having been determined beforehand during a calibration phase.

3. The method according to claim 2 , wherein a database is made up beforehand in which any one or combination of different curves, different thresholds and reference patterns are stored in memory for different types of materials to be sanded and different types of abrasives which may be used for their sanding.

4. The method according to claim 1 , wherein the treatment of the instantaneous consumed power measurement, its time-dependent change, or both are adapted for detecting at any instant along the trajectory either (i) any one or combination of an abrasion defect, a wear level of the abrasive of the sander, an applied pressure incident on the abrasive of the sander, a fouling incident, a suction incident, and a detachment, or (ii) absence of abrasive incident.

5. The method according to claim 4 , wherein such a detection triggers in real time an action in response.

6. The method according to claim 1 , wherein the instantaneous consumed power, the inferred abrasiveness, or both, are displayed or edited with a colorimetric scale.

7. A system for controlling an automated orbital sanding achieved by means of an electrically-powered orbital sander moved in an automated way, at constant pressure, at the surface of an object, along at least one predefined sanding trajectory in order to achieve sanding thereof, wherein it includes a device for measuring the instantaneous consumed power of the sander at different points along the sanding trajectory and a monitoring controller adapted for receiving the thereby measured instantaneous power and for treating the thereby achieved measurement in order to (i) infer therefrom a piece of information on the abrasiveness along said trajectory, (ii) detect a possible sanding incident along the latter, or both, said system including means to display or edit a colorimetric mapping of the instantaneous consumed power, the inferred abrasiveness, or both, as measured at different points along the sanding trajectory, said mapping associating an instantaneous consumed power of the sander with a given position of the sanding trajectory.

8. An automated orbital sanding system including an electrically-powered orbital sander and a robot adapted for moving said sander in an automated way, at constant pressure, at the surface of an object, along at least one predefined sanding trajectory in order to achieve the sanding thereof, wherein it includes a control system according to claim 1 .

Assignees

• Univ Nantes
• Centre Nat Rech Scient

Inventors

• Bonnet Samuel
• Furet Benoît
• Garnier Sébastien
• Poiree Raphaël

Classifications

• B24B49/16

  taking regard of the load · CPC title

• G05B2219/45058

  Grinding, polishing robot · CPC title

• B24B23/03 Primary

  the tool being driven in a combined movement · CPC title

• G05B2219/37367

  Grinding rate · CPC title

• G05B19/4065

  Monitoring tool breakage, life or condition · CPC title